high school robot club question for whiskers circuit

peterobot

My high school robotics team is getting ready for a competition. Every program we run has failed. We can't figure out how to do the following:
1) sensory input and visual output for the robot.
1.a) Please provide the schematic diagram for the input circuit that is taking input from P0
and P1 for the “Whiskers sensory input”.
1.b) Explain how the circuit works. What kind of logic is provided to the Microcontroller.
1.c) Provide a Debug program that will allow your circuit to be tested, providing the on the
screen output as well as through the two LEDs connected to P2 and P3.
1.d) Provide the schematic diagram for the output connected to the two LEDs connected to
P2 and P3.
2) Design the software for the Boe-Bot that has the schematic diagram that is called for in
the item 1. above. (1.a and 1.d). Servo motors are connected to P14 controlling the right
hand wheel and P15 controlling the left hand wheel.
Both whiskers detect obstacle, Back up for two seconds & make a circle of 1 ft & U-turn
(left twice)
Left whisker contacts, Back up & turn left
Right whisker contacts, Back up & turn right
Both whiskers 1, no contacts, Apply a forward pulse and check again.

SRLM

We won't give out answers, especially to school questions. That said, what we do is we help develop what you already have. So post what you have figured out so far. Just to speed things up much of what you want is in the book "Robotics with the BOE-BOT".

peterobot

Not looking for answers, this is a study guide prepping for competition. We have that book and can't find it in the whiskers chapter.

SRLM

You couldn't find the whiskers circuit in chapter 5? (Hint: it is figure 5-4)

The LED circuit is in there too (in chapter 2).

You can find the test code for these circuits a few pages later (respectively).

peterobot

Thanks for the help in locating the circuits.· We were able to figure it out.· Feel pretty dumb now because it was pretty simple.· The only thing we can't exactly figure out is the circle subroutine 1 foot code.·· This is our subroutine for it:



Circle:········································ ‘1·foot circle’
PULSOUT 13, 850 ' Veer right
PULSOUT 12, 716
···· PAUSE 20
NEXT
RETURN

·

SRLM

And? The only way that you will be able to get a consistent circle is to use encoders on the wheels to measure the distance traveled. The next best thing would be to get a compass to tell you how far you have turned. Otherwise you have to completely guestimate. For the last two options your pulsout values will have to be set and tested, set and tested until you get something that you like. And then you have to keep those values without changing the inertia or rotational inertial since that will change the amount of acceleration the servos can apply, thereby changing the path of the robot.

BTW, your subroutine has an error. You should have a FOR in there somewhere. When posting code, be sure to use the [noparse][[/noparse] code ] option (without spaces). Test it out in the test forum if you want to play with it.